CN113740838A - Whole-house personnel tracking method based on millimeter wave radar - Google Patents
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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Abstract
The invention relates to the field of millimeter wave radar application, and discloses a whole-house personnel tracking method based on a millimeter wave radar, which can ensure the accurate tracking and detection of indoor personnel and protect privacy. The method comprises the following steps: s1, arranging millimeter wave radars in corresponding areas of the whole house; s2, establishing a whole house model; s3, sampling target personnel data reported by each deployed radar at regular time and converting the target personnel data into whole-house coordinate data when the target personnel data are applied, and recording the whole-house coordinate data in a whole-house model; s4, creating a whole-house global identifier for target personnel data reported by each radar in the whole-house model for whole-house tracking; and S5, in the whole-house tracking process, judging whether a cross-domain event occurs according to the loss/new increase condition of target personnel in the door line area of each detection subarea, and if the cross-domain event occurs, inheriting the cross-domain target personnel information to the corresponding new increase point position in the new area.
Description
Technical Field
The invention relates to the field of millimeter wave radar application, in particular to a whole-house personnel tracking method based on a millimeter wave radar.
Background
The combination of security technology and intelligence is a great development direction of a whole-house intelligent system. At present, the whole house monitored control system commonly used among the prior art uses video monitoring or infrared sensing control, and video monitoring involves personnel's privacy and arouses easily that to be contradicted by the monitoring party, and infrared human response can only be used for judging whether personnel have the state, is difficult to acquire personnel's accurate position information.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the whole-house personnel tracking method based on the millimeter wave radar is provided, so that the privacy is protected while the accurate tracking detection of indoor personnel is ensured.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a whole-house personnel tracking method based on a millimeter wave radar comprises the following steps:
s1, arranging millimeter wave radars in corresponding areas of the whole house;
s2, establishing a whole house model;
s3, sampling target personnel data reported by each deployed radar at regular time and converting the target personnel data into whole-house coordinate data when the target personnel data are applied, and recording the whole-house coordinate data in a whole-house model;
s4, creating a whole-house global identifier for target personnel data reported by each radar in the whole-house model for whole-house tracking;
and S5, in the whole-house tracking process, judging whether a cross-domain event occurs according to the loss/new increase condition of target personnel in the door line area of each detection subarea, and if the cross-domain event occurs, inheriting the cross-domain target personnel information to the corresponding new increase point position in the new area.
As a further optimization, in step S1, the method for deploying the millimeter wave radar in the corresponding area of the whole house includes:
and acquiring a house type plane graph, and calibrating millimeter wave radar installation points on the basis of the house type plane graph to ensure that all areas of the house can be irradiated by the radar.
As a further optimization, in step S2, the method for building a whole house model includes:
taking a house type plane graph as a model base, carrying out physical or logical partitioning on a whole house detection area according to a house area where a radar is located to obtain detection partitions, and taking an area in a certain range at a channel intersection of two adjacent detection partitions as a door line area of the corresponding detection partition;
determining the imaging boundary of each radar according to the imaging area of each radar and the installation position of each radar; analyzing only data in the boundary when identifying and judging target human bodies in the radar monitoring area;
and converting the position coordinates of each deployed radar and the target position detected by the radar into coordinates in a world coordinate system taking the external rectangle of the house type structure as an integral image.
As a further optimization, the method for converting the target position detected by the radar into the coordinates in the world coordinate system taking the external rectangle of the house-type structure as the whole image comprises the following steps:
taking the upper left corner of the image with the house type structure external rectangle as the whole as the origin of coordinates, wherein the origin of coordinates is towards the right in the X-axis increment direction, and the origin of coordinates is downwards in the Y-axis increment direction; then there are:
the world coordinate x-axis component of the target position detected by the radar is equal to the world coordinate x-axis component of the radar installation position + the x-axis component of the detection point of the radar coordinate system, (-) cos (alpha angle) + the y-axis component sin (alpha angle) of the detection point of the radar coordinate system;
the world coordinate y-axis component of the target position detected by the radar is equal to the world coordinate y-axis component of the radar installation position + the x-axis component sin (alpha angle) of the detection point of the radar coordinate system, and the y-axis component cos (alpha angle) of the detection point of the radar coordinate system;
wherein the alpha angle is the angle of the radar normal direction rotating counterclockwise to the negative half axis of the Y axis of the world coordinate system.
As a further optimization, in step S5, the determining whether a cross-domain event occurs according to the target person loss/new increase condition in the gate line area of each detection partition specifically includes:
and judging whether target personnel are lost or newly added target personnel exist in the detection subarea or not by subtracting the front frame and the rear frame of the radar image, and if the target personnel are lost or the newly added target personnel exist and the lost position or the newly added target personnel position is located in the door line area, judging that a cross-domain event occurs.
As a further optimization, in step S5, if a cross-domain event occurs, inheriting the cross-domain target person information to a corresponding new point in a new region, which specifically includes:
and judging whether a newly added target person or a lost target person appears in an adjacent region of the region where the cross-domain event occurs, if so, and if the distance between the current position and the point location of the lost target person or the newly added target person when the cross-domain event occurs in the region is smaller than a set threshold value, inheriting the information of the lost target person to the corresponding newly added target person point location in the adjacent region.
As a further optimization, step S5 further includes:
if the target person is lost in the non-portal line area of the detection partition, marking the point location of the lost target person as a static point, and subsequently if a newly increased target person in the non-portal line area is found in the detection partition, and the distance between the point location of the newly increased target person and the static point is smaller than a set threshold value, inheriting the target person information of the static point to the point location of the newly increased target person.
The invention has the beneficial effects that:
tracking a dynamic object by using a millimeter wave radar, modeling to form a whole-house tracking model constructed according to point location data of the radar in the house structure and the covered house structure for imaging a human body, carrying out physical or logical partitioning on a whole-house detection area by using the model to obtain a detection partition, and judging target cross-domain through loss/addition of a detection target in a gate line area of an adjacent detection partition; therefore, the model can be used for tracking a human body across radar areas (across rooms or house functional areas), so that the statistics of the number of personnel in a whole house or in a sub-area, the positioning of the personnel and the continuous maintenance of the identity of the personnel are realized.
Because the millimeter wave radar can realize accurate positioning, and the number of imaging points is much less than that of pixels of an image of video detection, the invention can provide privacy protection while ensuring detection precision, greatly increases the possibility that personnel can enter families or privacy sensitive fields by dynamic tracking, and is very suitable for household environments or public places needing dynamic tracking of personnel.
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FIG. 1 is a radar data interaction flow of a whole house model for a personnel tracking process according to an embodiment.
Detailed Description
The invention aims to provide a whole-house personnel tracking method based on a millimeter wave radar, which can ensure the accurate tracking and detection of indoor personnel and protect privacy. Due to the characteristics of the millimeter wave radar, human body characteristic signals contained in the point cloud signals reflected by the obtained radar waves are very few, and only a very small amount of human body position characteristics exist, so that privacy can not be invaded. Based on the method, the millimeter wave radar is adopted to detect the human body target, a whole-house tracking model is built according to point location data of the house structure and the radar covering the house structure for imaging the human body is formed through modeling, the effective range of irradiation of each radar is spliced according to region division, and personnel continuously interpenetrated in each region are respectively marked with global uniqueness through an algorithm, so that the personnel can be tracked in the house completely.
In the concrete implementation, firstly, a millimeter wave radar is deployed in a corresponding area of a whole house: and acquiring a house type plane graph, and calibrating millimeter wave radar installation points on the basis of the house type plane graph to ensure that all areas of the house can be irradiated by the radar. Because the imaging angle of the millimeter wave radar reaches 120 degrees and the imaging distance reaches 8 meters, when the millimeter wave radar is arranged at one corner of a room, the millimeter wave radar can completely cover the room in a rectangular area; and because the radar has penetrability, can still form images beyond the boundary, consequently, we need retrain the effective detection area of radar, retrain it to room geometry, only carry out the analysis to the data in the boundary when judging the discernment of the target human body in the radar monitoring area to avoid the radar signal to wear the detection interference that the wall brought.
The whole house model is established by taking a house type plane graph as a model base, because a single radar can only cover a rectangular area, a house is divided into a plurality of areas, a whole house detection area is physically or logically partitioned according to the house area where the radar is located to obtain a detection partition, wherein the physical partition can take a door of a room as a boundary, and the logical partition is functionally divided to set a virtual boundary, such as: in the case where the living room and the restaurant share one radar, a virtual door may be provided between the living room and the restaurant as a boundary of the partition. In order to improve the accuracy of detecting and tracking the personnel crossing the subareas, a certain range (such as 20CM) at the intersection of the passages of two adjacent detecting subareas is taken as a door line area of the corresponding detecting subarea; if the target is lost in the door line area of a certain detection subarea and a newly added target is added in the door line area of an adjacent detection subarea, the positions of the target and the newly added target are relatively close, the target can be judged to be cross-domain, and the information of the lost target is inherited to the new point position of the adjacent area, so that the personnel tracking of the whole house is realized.
When the whole house model is used for tracking the whole house personnel, the conversion problem of radar imaging coordinates and whole house world coordinates also exists. The specific conversion mode is as follows: the method comprises the following steps of taking the upper left corner of an external rectangle of a house type structure as an integral image as a coordinate origin, and taking the coordinate origin to the right as an X-axis incremental direction and the coordinate origin to the lower as a Y-axis incremental direction; then there are:
the world coordinate x-axis component of the target position detected by the radar is equal to the world coordinate x-axis component of the radar installation position + the x-axis component of the detection point of the radar coordinate system, (-) cos (alpha angle) + the y-axis component sin (alpha angle) of the detection point of the radar coordinate system;
the world coordinate y-axis component of the target position detected by the radar is equal to the world coordinate y-axis component of the radar installation position + the x-axis component sin (alpha angle) of the detection point of the radar coordinate system, and the y-axis component cos (alpha angle) of the detection point of the radar coordinate system;
wherein the alpha angle is the angle of the radar normal direction rotating counterclockwise to the negative half axis of the Y axis of the world coordinate system.
Example (b):
in this embodiment, a radar data interaction flow in a process of tracking people by using a whole house model is shown in fig. 1, and includes:
1. sampling data reported by a radar at regular time, converting the sampled data into whole-house coordinate data according to house and area labels of the radar and installation position and angle information of the radar, and recording the data in a whole-house model;
2. establishing a whole-house global identifier for target data reported by a radar, wherein the identifier is used for whole-house tracking;
3. in the whole house tracking process, whether a cross-domain event occurs is judged according to the loss/new increase condition of target personnel in the door line area of each detection subarea, and if the cross-domain event occurs, the cross-domain target personnel information is inherited to the corresponding new point position in the new area.
When a target person moves across areas in a physical/virtual partition, two events are triggered due to the person movement: leave area events (people disappear at the edge of the area) and enter area events (people appear at the edge of the area). The two events can occur in pairs, which are collectively called as 'cross-domain events', and the area where the cross-domain event occurs is certainly near the adjacent partition boundary (a solid door or a virtual door), so that the exit and entry events occurring in pairs can be compared in space by taking the door line area as an observation area, and after the cross-domain event occurs, the information of the target personnel lost in the current area is carried to the newly added point position corresponding to the adjacent area through pairing, so that the personnel tracking of the whole house is realized.
The specific pairing operation is as follows: the distance between the last coordinate position of the target person lost in the door line area in the current area and the coordinate position of the newly added person in the door line area in the adjacent area is compared, if the distance is smaller than a threshold value, the two point positions are very close to each other, so that the newly added target in the adjacent area can be judged to be the target lost in the current area, and the person information is continued.
In addition, because the millimeter wave radar identifies the human body according to the moving track of the object, the problem that the human body is lost statically when the human body is completely still (such as lying down, sitting down, standing still) for a period of time exists. In this embodiment, when a human body is lost (statically lost) near a not-door line in a room, we record that the lost position is marked as a static point, if the target moves again and is found by a radar, we determine whether a new dynamic human body point location and a static lost point location are geometrically close in position in the static point, and if the new dynamic human body point location and the static lost point location are geometrically close, we can determine that the dynamic point is a continuation of the corresponding static point, so that the dynamic point inherits the personnel identification of the static point, and the continuation of tracking is realized.
Claims (7)
1. A whole-house personnel tracking method based on a millimeter wave radar is characterized by comprising the following steps:
s1, arranging millimeter wave radars in corresponding areas of the whole house;
s2, establishing a whole house model;
s3, sampling target personnel data reported by each deployed radar at regular time and converting the target personnel data into whole-house coordinate data when the target personnel data are applied, and recording the whole-house coordinate data in a whole-house model;
s4, creating a whole-house global identifier for target personnel data reported by each radar in the whole-house model for whole-house tracking;
and S5, in the whole-house tracking process, judging whether a cross-domain event occurs according to the loss/new increase condition of target personnel in the door line area of each detection subarea, and if the cross-domain event occurs, inheriting the cross-domain target personnel information to the corresponding new increase point position in the new area.
2. The whole-house personnel tracking method based on millimeter wave radar as claimed in claim 1,
in step S1, the method for deploying the millimeter wave radar in the corresponding area of the whole house includes:
and acquiring a house type plane graph, and calibrating millimeter wave radar installation points on the basis of the house type plane graph to ensure that all areas of the house can be irradiated by the radar.
3. The whole-house personnel tracking method based on millimeter wave radar as claimed in claim 1,
in step S2, the method for building a whole house model includes:
taking a house type plane graph as a model base, carrying out physical or logical partitioning on a whole house detection area according to a house area where a radar is located to obtain detection partitions, and taking an area in a certain range at a channel intersection of two adjacent detection partitions as a door line area of the corresponding detection partition;
determining the imaging boundary of each radar according to the imaging area of each radar and the installation position of each radar; analyzing only data in the boundary when identifying and judging target human bodies in the radar monitoring area;
and converting the position coordinates of each deployed radar and the target position detected by the radar into coordinates in a world coordinate system taking the external rectangle of the house type structure as an integral image.
4. The whole-house personnel tracking method based on millimeter wave radar as claimed in claim 3,
the method for converting the target position detected by the radar into the coordinates in the world coordinate system taking the external rectangle of the house type structure as the whole image comprises the following steps:
taking the upper left corner of the image with the house type structure external rectangle as the whole as the origin of coordinates, wherein the origin of coordinates is towards the right in the X-axis increment direction, and the origin of coordinates is downwards in the Y-axis increment direction; then there are:
the world coordinate x-axis component of the target position detected by the radar is equal to the world coordinate x-axis component of the radar installation position + the x-axis component of the detection point of the radar coordinate system, (-) cos (alpha angle) + the y-axis component sin (alpha angle) of the detection point of the radar coordinate system;
the world coordinate y-axis component of the target position detected by the radar is equal to the world coordinate y-axis component of the radar installation position + the x-axis component sin (alpha angle) of the detection point of the radar coordinate system, and the y-axis component cos (alpha angle) of the detection point of the radar coordinate system;
wherein the alpha angle is the angle of the radar normal direction rotating counterclockwise to the negative half axis of the Y axis of the world coordinate system.
5. The whole-house personnel tracking method based on millimeter wave radar as claimed in claim 1,
in step S5, the determining whether a cross-domain event occurs according to the target person loss/new increase condition in the gate line area of each detection partition specifically includes:
and judging whether target personnel are lost or newly added target personnel exist in the detection subarea or not by subtracting the front frame and the rear frame of the radar image, and if the target personnel are lost or the newly added target personnel exist and the lost position or the newly added target personnel position is located in the door line area, judging that a cross-domain event occurs.
6. The whole-house personnel tracking method based on millimeter wave radar as claimed in claim 5,
in step S5, if a cross-domain event occurs, inheriting the cross-domain target person information to a corresponding newly added point in a new region, which specifically includes:
and judging whether a newly added target person or a lost target person appears in an adjacent region of the region where the cross-domain event occurs, if so, and if the distance between the current position and the point location of the lost target person or the newly added target person when the cross-domain event occurs in the region is smaller than a set threshold value, inheriting the information of the lost target person to the corresponding newly added target person point location in the adjacent region.
7. The whole-house personnel tracking method based on millimeter wave radar as claimed in claim 6,
step S5 further includes:
if the target person is lost in the non-portal line area of the detection partition, marking the point location of the lost target person as a static point, and subsequently if a newly increased target person in the non-portal line area is found in the detection partition, and the distance between the point location of the newly increased target person and the static point is smaller than a set threshold value, inheriting the target person information of the static point to the point location of the newly increased target person.
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| CN114442081A (en) * | 2021-12-21 | 2022-05-06 | 珠海格力电器股份有限公司 | Personnel detection method, device, storage medium and electronic equipment |
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